Systems and methods for network node communication using dynamically configurable interaction modes

ABSTRACT

Systems, methods, and computer-readable media are disclosed for network node communication using dynamically configurable interaction modes. Example methods may include identify a first triggering event associated with an agent, the agent comprising a vehicle or a user; determine a first mode for the agent based on the first triggering event; exchange a first communication with other agents over a network, wherein the first communication is based on the first mode and comprises a first action to be taken by the other agents; determine a second mode for the agent based on a second triggering event; and exchange a second communication with the other agents over the network, wherein the second communication is based on the second mode and comprises a second action to be taken by the other agents, and wherein the second mode and the first mode are of different types.

TECHNICAL FIELD

The present disclosure relates to systems and methods for network nodecommunication, and more specifically, to methods and systems for networknode communication using dynamically configurable interaction modes.

BACKGROUND

Traffic accidents and roadway congestion represents significantchallenges in present transportation systems. By sharing data tosurrounding vehicles and infrastructural components, vehiclecommunications systems may serve to enhance traffic efficiency byproviding warnings for upcoming traffic congestions, proposingalternative routes and ensuring eco-friendly driving, and reducingemissions.

There may be delays between collecting data and presenting it to aparticular vehicle driver where the information may be outdated ormisleading. Further, current vehicle communications systems may notshare granular data regarding the vehicles in a manner that facilitatesinteractions between vehicles in many transportation scenarios.

Therefore, systems and methods are needed to provide enhancedinteractions between vehicles to improve transportation systems.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a diagram of an example environmental context for vehiclecommunication using dynamically configurable interaction modes, inaccordance with example embodiments of the disclosure.

FIG. 2 shows a diagram of example components that may be used forcommunication using the interaction modes, in accordance with exampleembodiments of the disclosure.

FIG. 3A illustrates tables corresponding to an example scenario forvehicle communication in a parking scenario using the interaction modes,in accordance with example embodiments of the disclosure.

FIG. 3B illustrates additional tables that continue the example of FIG.3A, in accordance with example embodiments of the disclosure.

FIG. 4 shows an example sequence diagram illustrating examplecommunications between vehicles in a parking scenario, in accordancewith example embodiments of the disclosure.

FIG. 5 show example process flows describing a method of vehiclecommunication using dynamically configurable interaction modes, inaccordance with example embodiments of the disclosure.

FIG. 6 is a schematic illustration of an example autonomous vehicle (AV)that can communicate to other vehicles with configurable interactionmodes using the disclosed systems and methods, in accordance with one ormore embodiments of the disclosure.

FIG. 7 is a schematic illustration of an example server architecture forone or more servers that can be used for vehicle communication usingdynamically configurable interaction modes, in accordance with one ormore embodiments of the disclosure.

DETAILED DESCRIPTION

Overview

In transportation systems, potentially hazardous situations may arisewhen people and vehicles (collectively referred to as “agents” and/or“actors” herein) are in close proximity. Such hazardous situations maybe amplified when agents are not directly visible to each other, or whenthe agents undertake actions that are not anticipated by counterparties.In some examples, such situations can lead to transportationinefficiencies and/or accidents.

Some examples of potentially hazardous situations may include: (1) adriver or passenger of a street-parked vehicle opening a vehicle's doorin a bicyclist or vehicle driving lane, (2) a pedestrian jaywalking tocross the street, particularly at nighttime, (3) a pedestrian jogging orwalking in certain environments such as neighborhoods, and the like.Further, some examples of inefficient and frustrating transportationexperiences may include: (1) a driver trying to find street parking butnot realizing that a vehicle is pulling out of a nearby parking spot,thus resulting in the driver driving around the block to return to thespot and discovering that the parking spot is gone, (2) a driver lookingfor a spot in a parking garage (or a large parking lot) and searchingrow by row looking for a parking spot, and the like.

In some examples, agents such as vehicles, motorbikes, mobile phones(for example, carried by pedestrians and/or cyclists), infrastructuralelements, and the like may be equipped with short-range wirelesscommunication capabilities. Such wireless communication capabilities mayinclude vehicle-to-everything (V2X) and cellular V2X (C-V2X)communication capabilities. The agents may use the wirelesscommunication capabilities to send wireless messages. Such wirelessmessages may include BSM messages or the like. The agents can mitigatethe hazardous situations and/or the inefficient transportationexperiences described above by communicating to one another to increaseawareness of the agents' modes to initiate appropriate agent actionsand/or interactions.

In various aspects, the disclosed systems may enable the agents to enterdifferent interaction modes based on the agent's current intent and/orcontextual factors as detailed below. In some examples, the disclosedsystems may permit the actors to transition between interaction modes ascontextual factors change. These contextual factors may include, but notbe limited to, the agent's activity (for example, as determined by ananalysis of data generated by corresponding sensors), predeterminedconditions and parameters, and communications from other, nearby actors,to be detailed further below. In some examples, the interaction modesmay determine certain aspects of an agents' communication including, butnot limited to, message content, the frequency with which the agentstransmit messages, the agent's filtering and processing of incomingmessages, and/or the like.

Illustrative Embodiments

Embodiments of the present disclosure are described herein. It is to beunderstood, however, that the disclosed embodiments are merely examplesand other embodiments can take various and alternative forms. Thefigures are not necessarily to scale; some features could be exaggeratedor minimized to show details of particular components. Therefore,specific structural and functional details disclosed herein are not tobe interpreted as limiting, but merely as a representative basis forteaching one skilled in the art to variously employ the presentinvention. As those of ordinary skill in the art will understand,various features illustrated and described with reference to any one ofthe figures can be combined with features illustrated in one or moreother figures to produce embodiments that are not explicitly illustratedor described. The combinations of features illustrated providerepresentative embodiments for typical applications. Variouscombinations and modifications of the features consistent with theteachings of this disclosure, however, could be desired for particularapplications or implementations.

As used herein, a “communication system” can refer to a computer networkin which vehicles and roadside units serve as communicating nodes,providing each other with information, such as safety warnings andtraffic information. These components can be used to in avoidingaccidents and in reducing traffic congestion. The components may includededicated short-range communications (DSRC) devices, cellularvehicle-to-everything (V2X) devices, vehicle-to-network (V2N) devices,or other V2X-capable devices. DSRC can refer to one-way or two-wayshort-range to medium-range wireless communication channels specificallydesigned for automotive use and a corresponding set of protocols andstandards.

As used herein, “vehicle-to-everything” (V2X) communication may refer tothe communication of information between a vehicle and any entity thatmay affect the vehicle. It is a vehicular communication system thatincorporates other more specific types of communication as V2I(vehicle-to-infrastructure), V2N (vehicle-to-network), V2V(vehicle-to-vehicle), V2P (vehicle-to-pedestrian), V2D(vehicle-to-device) and V2G (vehicle-to-grid). In some aspects, V2Xcommunication technology can include wide local area network(WLAN)-based, and cellular-based communications. V2X communication caninclude any suitable network-based V2X communication such asvehicle-to-network (V2N) or WLAN-based V2X communication. In someexamples, V2N can use long-term evolution (LTE) (and its variants) asdescribed, for example, in 3GPP standards Release 14. Moreover, V2Xfunctionalities can support 5G, as described in connection with variousstandards, such as 3GPP Release 15. In some examples, the V2N caninclude a PC5 sidelink peer-to-peer short range communicationcapability.

As used herein, a “basic safety message,” (BSM) can refer to anelectronic message in vehicle-to-vehicle (V2V) applications. The BSM mayinclude a low latency, localized broadcast that can be used inconnection with V2V safety applications. Such V2V safety applicationscan be built around any suitable standard, such as a society ofautomotive engineers (SAE) J2735 BSM standard. In some examples, the BSMmay include a first portion having vehicle data elements (vehicle size,position, speed, heading acceleration, brake system status, and/or thelike), and this portion can be transmitted approximately ten times persecond. In other examples, the BSM may include a second portion having avariable set of data elements drawn from optional data elements, whoseavailability by vehicle model can vary. This second portion may betransmitted less frequently as compared with the first portion. In somecases, the BSM can be transmitted using any suitable technique, such asDSRC, and may have a range of about 1,000 meters.

As used herein, an “infrastructural component” may include road andhighway networks, including structures (bridges, tunnels, culverts,retaining walls), signage and markings, electrical systems (streetlighting and traffic lights), and/or the like.

FIG. 1 shows a diagram of an environmental context for vehiclecommunication using dynamically configurable interaction modes, inaccordance with example embodiments of the disclosure. FIG. 1 representsan environmental context 100 that includes vehicles 102, 104, and 108and infrastructural component 112. Further, the vehicles may include avehicle antenna such as antenna 103. The infrastructural component 112may include an antenna 114, a camera 118, and a roadside unit 120including a processor. The vehicle antennas may communicate messages(e.g., V2X messages) to and from between vehicles in addition to theantenna 114 of the infrastructural component 112.

While this example environmental context 100 involves parking, it is tobe understood that the disclosed systems and methods may be used in avariety of other transportation scenarios in different environments. Asshown in environmental context 100, vehicle 104 may be backing out of aparking spot 106 while another vehicle 102 is in close proximity. Insome examples, vehicles 102 and 104 can be in particular communicationmodes based on their respective intents (searching for parking versusleaving parking), which can facilitate the nature of vehicles 102 and104 subsequent interactions. In other examples, a nearby vehicle (notshown) that is driving by the parking lot may receive copies of messageswirelessly transmitted by vehicles 102 and 104. However, the nearbyvehicles may not take any action based on the reception of the messages.For example, this may be because the nearby vehicle is in acommunication mode that does not consider parking and thus, the nearbyvehicle may not filter for messages associated with parking.Accordingly, vehicle 104 may transmit messages to surrounding vehicles(such as example vehicle 108 in the parking lot and vehicle 102). Thesemessages may allow for vehicle 104 to announce its current mode ofoperation and thereby allow vehicle 102 to take appropriate action. Forexample, vehicles 104 and 102 may be autonomous vehicles (AVs) andtherefore, vehicle 102 may determine to slow its speed and/or breakuntil vehicle 104 is safely out of the parking spot 106. Moreover, asdescribed further below, vehicle 104 may register the presence ofvehicle 102 and become aware of the 102's intention to park in parkingspot 106. If there were additional vehicles trying to park in the sameparking spot 106, vehicle 104 may provide priority to vehicle 102, asdescribed in connection with FIG. 4, below. Further, if vehicle 102determines to park in a different parking spot or perform a differentdriving action, vehicle 104 may remove vehicle 102 from its registry ofvehicles trying to park in parking spot 106. This may facilitate otherAVs to become aware of parking spot 106 and have vehicle 104'spermission to park at that parking spot. The removal of a vehicleattempting to park from the registry may not necessarily make othervehicles trying to park in parking spot 106 receive notification of theparking spot's availability. However, the removal may cause othervehicles that were previously informed about the parking spot's 106availability to receive vehicle 104's permission to park. Moreover,vehicles such as vehicle 108 may have various intentions to leave theirparking spots and can also transmit messages to the other vehicles tobetter coordinate their movements in the parking lot and thereby avoidcollisions.

In some examples, vehicle 104 may use infrastructural component 112 torelay such messages to numerous vehicles outside the immediate wirelessreach of vehicle 104's antenna. This may be useful, for example, to avehicle that is just entering the parking lot (not shown) and may belooking for a parking spot. Such a vehicle may be initially alerted tothe possibility of a parking spot opening at parking spot 106. However,when vehicle 102 determines to park in parking spot 106, vehicle 104 maytransmit an updated message to the infrastructural component 112 torelay to other vehicles searching for parking. In some examples, theinfrastructural component 112 can handle the advertisement, reservation,and confirmation of parking spaces in infrastructural component's 112vicinity. In some cases, the disclosed systems may determine thatvehicle 104 should not determine the next vehicle to obtain permissionto park in the parking space. Accordingly, the disclosed systems mayconfigure the infrastructural component 112 to make such adetermination. Further, the updated message may indicate that parkingspot 106 is no longer available.

Additionally, infrastructural component 112 may have a camera 118 thatcan capture images and videos of the parking lot. The captured video maybe used to determine optimal parking suggestions using machine learningtechniques. Further, the camera 118 may identify various opportunitiesfor the vehicles to park in certain positions and may confirm thevalidity of the messages being transmitted between vehicles. Theinfrastructural component 112 may maintain records of the movements andinteractions of the vehicles for numerous purposes including lawenforcement purposes, machine learning training purposes, auditpurposes, and/or the like. In some cases, some of the vehicles in theparking lot may not have interaction capabilities as described variouslyherein. For example, such vehicles may be dated and therefore lack thetechnological capability to communicate on certain short-range wirelessnetworks with other vehicles in the parking lot. Accordingly, theinfrastructural component 112 may serve to fill in the gaps incommunication between such legacy vehicles and more capable currentvehicles. For example, the camera 118 of the infrastructural component112 may be used to determine the embarking and debarking of vehiclesfrom a parking spot. The infrastructural component 112 may therefore useits antenna 114 to communicate messages to other vehicles to achieve thesame results as V2V communications. The vehicles 102, 104, and 108 mayinclude any suitable vehicle such as a motorcycle, car, truck,recreational vehicle, etc., and may be equipped with suitable hardwareand software that enables it to communicate over a network, such as alocal area network (LAN). As noted, the vehicles 102, 104, and 108 mayinclude an AV as shown and described in connection with FIG. 6, below.

In another embodiment, the vehicles 102, 104, and 108 may include avariety of sensors that may aid the vehicle in navigation andinteraction mode determination based on location. The sensors mayinclude radio detection and ranging (RADAR), light detection and ranging(LIDAR), cameras, magnetometers, ultrasound, barometers, and the like(to be described below). In one embodiment, the sensors and otherdevices of the vehicles 102, 104, and 108 may communicate over one ormore network connections. Examples of suitable network connectionsinclude a controller area network (CAN), a media-oriented systemtransfer (MOST), a local interconnection network (LIN), a cellularnetwork, a Wi-Fi network, and other appropriate connections such asthose that conform with known standards and specifications (e.g., one ormore Institute of Electrical and Electronics Engineers E IEEE)standards, and the like).

In some examples, the vehicles 102, 104, and 108 may include variouslocation-determination devices in addition to satellite-basedlocation-determination devices. These devices may be used to determinethe interaction modes of the vehicles based on the locations, track thevehicles, provide updates on the location of a given vehicle to othervehicles, and generally support the operations described herein. Forexample, the vehicles 102, 104, and 108 may include magnetic positioningdevices such as magnetometers, which may offer an indoor locationdetermination capability. Magnetic positioning may be based on the ironinside buildings that create local variations in the Earth's magneticfield. Un-optimized compass chips inside devices in the vehicles 102,104, and 108 may sense and record these magnetic variations to mapindoor locations. In one embodiment, the magnetic positioning devicesmay be used to determine the elevation of the vehicles 102, 104, and108. Alternatively or additionally, a barometer device may be used todetermine the elevation of the vehicles 102, 104, and 108. In anotherembodiment, barometers and pressure altimeters may be a part of thevehicle and may measure pressure changes caused by a change in altitudeof the vehicles 102, 104, and 108.

In one embodiment, the vehicles 102, 104, and 108 may use one or moreinertial measurement devices (not shown) to determine the respectivevehicles' position in order to track the vehicles and facilitate thedetermination of the interaction modes and thereby reduce the likelihoodof collisions. The vehicles 102, 104, and 108 may use dead reckoning andother approaches for positioning of the vehicle using an inertialmeasurement unit carried by the vehicles 102, 104, and 108, sometimesreferring to maps or other additional sensors to constrain the inherentsensor drift encountered with inertial navigation. In one embodiment,one or more microelectromechanical systems (MEMS) based inertial sensorsmay be used in the inertial measurement unit of the vehicles 102, 104,and 108; however, the MEMS sensors may be affected by internal noiseswhich may result in cubically growing position error with time. In oneembodiment, to reduce the error growth in such devices, a Kalmanfiltering based approach may be used, by implementing softwarealgorithms on software modules associated with the various devices inthe vehicles 102, 104, and 108.

In one embodiment, the inertial measurements may cover one or moredifferentials of motion of the vehicles 102, 104, and 108, andtherefore, the location may be determined by performing integrationfunctions in the software modules, and accordingly, may requireintegration constants to provide results. Further, the positionestimation for the vehicles 102, 104, and 108 may be determined as themaximum of a two-dimensional or a three-dimensional probabilitydistribution which may be recomputed at any time step, taking intoaccount the noise model of all the sensors and devices involved. Basedon the vehicles' motion, the inertial measurement devices may be able toestimate the vehicles' locations by one or more artificial intelligencealgorithms, for example, one or more machine learning algorithms (e.g.,convolutional neural networks). The disclosed systems may use any of thedevices mentioned above in combination with the location-determinationsignals provided by the disclosed embodiments to increase the accuracyof position determination and thereby reduce the likelihood ofcollisions. This may be particularly useful in situations where globalpositioning system (GPS) signals and the like are weak (for example, incovered parking structures, tunnels, and the like).

In some examples, the infrastructural component 112 may use markers thatmay be placed at specific locations throughout the environmentneighboring the infrastructural component 112. These markers may serveas reference points that encode that location's coordinates: latitude,longitude, and/or elevation. The markers can therefore be used todetermine the location of the vehicles in case any other systems fail orare have limited accuracy. In one embodiment, the infrastructuralcomponent 112 may include cameras that may determine vehicles' locationsbased on visual features of the vehicles. For example, a collection ofsuccessive snapshots from a infrastructural component 112 camera canbuild a database of images that is suitable for estimating vehicles'location. In one embodiment, once the database is built or during thebuilding of such a database, the infrastructural component 112 cameramay take snapshots that can be interpolated into the database, yieldinglocation coordinates. The disclosed systems can use such coordinates inconjunction with other location techniques to increase the accuracy ofposition determination and thereby reduce the likelihood of collisions.

In some examples, the disclosed systems can use an indoor positioningsystem (IPS) in connection with certain infrastructural components 112to determine the location of the vehicles with increased accuracy, forexample, in locations where satellite navigation signals are inadequate.In particular, an IPS may refer to a system to locate objects (e.g., thevehicles 102, 104, and 108) inside a building such as a parkingstructure using lights, radio waves, magnetic fields, acoustic signals,or other sensory information collected by mobile devices (e.g., userdevices or vehicle devices). IPS's may use different technologies,including distance measurement to nearby anchor nodes (nodes with knownfixed positions, e.g. Wi-Fi and/or Li-Fi access points or Bluetoothbeacons, magnetic positioning, and/or dead reckoning). Such IPSs mayactively locate mobile devices and tags or provide ambient location orenvironmental context for devices to get sensed. In one embodiment, anIPS system may determine at least three independent measurements are tounambiguously find a location of a particular vehicles 102, 104, and108.

In some examples, the vehicles 102, 104, and 108 may have on-board units(not shown) may include microcontrollers and devices that cancommunicate with each other in applications without a host computer. Theon-board unit may use a message-based protocol to perform internalcommunications. Further, the on-board unit can cause a transceiver tosend and receive message (for example, V2X messages) to and frominfrastructural component 112 and to other vehicles' on-board units.

In some examples, the vehicle antennas (for example, antenna 103) mayinclude any suitable communications antenna. Some non-limiting examplesof suitable communications antennas include Wi-Fi antennas, Institute ofElectrical and Electronics Engineers (IEEE) 802.11 family of standardscompatible antennas, directional antennas, non-directional antennas,dipole antennas, folded dipole antennas, patch antennas, multiple-inputmultiple-output (MIMO) antennas, or the like. The communications antennamay be communicatively coupled to a radio component to transmit and/orreceive signals, such as communications signals to and/or from thevehicles.

Further, various devices of the vehicles 102, 104, and 108 and/or theinfrastructural component 112 may include any suitable radio and/ortransceiver for transmitting and/or receiving radio frequency (RF)signals in the bandwidth and/or channels corresponding to thecommunications protocols utilized by any of the vehicle devices tocommunicate with each other. The radio components may include hardwareand/or software to modulate and/or demodulate communications signalsaccording to pre-established transmission protocols. The radiocomponents may further have hardware and/or software instructions tocommunicate via one or more Wi-Fi and/or Wi-Fi direct protocols, asstandardized by the Institute of Electrical and Electronics Engineers(IEEE) 802.11 standards. In certain example embodiments, the radiocomponent, in cooperation with the communications antennas, may beconfigured to communicate via 2.4 GHz channels (e.g. 802.11b, 802.11g,802.11n), 5 GHz channels (e.g. 802.11n, 802.11ac), or 60 GHZ channels(e.g. 802.11ad). In some embodiments, non-Wi-Fi protocols may be usedfor communications between devices, such as Bluetooth, dedicatedshort-range communication (DSRC), V2N, Ultra-High Frequency (UHF) (e.g.IEEE 802.11af, IEEE 802.22), white band frequency (e.g., white spaces),or other packetized radio communications. The radio component mayinclude any known receiver and baseband suitable for communicating viathe communications protocols. The radio component may further include alow noise amplifier (LNA), additional signal amplifiers, ananalog-to-digital (A/D) converter, one or more buffers, and digitalbaseband.

Typically, when an example vehicle 102 establishes communication withanother vehicle 104 and/or stablishes communication with ainfrastructural component 112 device, the vehicle 102 may communicate inthe downlink direction by sending data frames (e.g. a data frame whichcan comprise various fields such as a frame control field, a durationfield, an address field, a data field, and a checksum field). The dataframes may be preceded by one or more preambles that may be part of oneor more headers. These preambles may be used to allow the user device todetect a new incoming data frame from the vehicle device. A preamble maybe a signal used in network communications to synchronize transmissiontiming between two or more devices (e.g., between the vehicle 102 deviceand infrastructural component 112 device).

In another aspect, the environmental context 100 may include one or moresatellites 130 and one or more cellular towers 132. As noted, thevehicles 102, 104, and 108 may have transceivers, which may in turn mayinclude one or more location receivers (e.g., GNSS receivers) that mayreceive location signals (e.g., GNSS signals) from one or moresatellites 130. In another embodiment, a receiver may refer to a devicethat can receive information from satellites (e.g., satellites 130) andcalculate the vehicles' geographical position.

FIG. 2 shows a diagram of example components that may be used for usedfor communication using the interaction modes, in accordance withexample embodiments of the disclosure. In particular, diagram 200 showscomputational resources including an exemplary server 202, a database204, processor(s) 206, memory 208, and user devices 213. Diagram 200further shows vehicles 210 that may communicate using antennas 211. Invarious embodiments, the various components of diagram 200 maycommunicate 203 over a network 216.

In another embodiment, the vehicles 210 may transmit a wireless signalusing antenna 211. The wireless signal may be sent to other vehicles inproximity to the transmitting vehicle, or to infrastructural componentsthat are part of the transportation network. A wireless signal mayadditionally be sent to a user device 213, for example, to inform theuser regarding actions that a nearby vehicle is taking. For example, thevehicles may transmit such a wireless signal to the user device 213 suchas a smartwatch to notify the user that the vehicle is passing behind aparticular structure that renders the vehicle temporarily not visible.This may serve as an additional or backup mechanism to alert users as tothe interaction mode(s) of the vehicles, actions of the vehicles, andthe actions that drivers should perform with respect to a given vehicle.

The vehicles 210 and/or the user device may be configured to communicatewith the one or more devices of the vehicle using a network 216,wirelessly or wired. The network 216 may include, but not limited to,any one of a combination of different types of suitable communicationsnetworks such as, for example, broadcasting networks, public networks(for example, the Internet), private networks, wireless networks,cellular networks, or any other suitable private and/or public networks.Further, any of the communications networks may have any suitablecommunication range associated therewith and may include, for example,global networks (for example, the Internet), metropolitan area networks(MANs), wide area networks (WANs), local area networks (LANs), orpersonal area networks (PANs). In addition, any of the communicationsnetworks may include any type of medium over which network traffic maybe carried including, but not limited to, coaxial cable, twisted-pairwire, optical fiber, a hybrid fiber coaxial (HFC) medium, microwaveterrestrial transceivers, radio frequency communication mediums, whitespace communication mediums, ultra-high frequency communication mediums,satellite communication mediums, or any combination thereof.

As noted, the vehicles 210 may include one or more communicationsantennae such as antenna 211. The antennae may be any suitable type ofantenna corresponding to the communications protocols used by the userdevice and the devices of the vehicle. Some non-limiting examples ofsuitable communications antennas include Wi-Fi antennas, Institute ofElectrical and Electronics Engineers (IEEE) 802.11 family of standardscompatible antennas, directional antennas, non-directional antennas,dipole antennas, folded dipole antennas, patch antennas, multiple-inputmultiple-output (MIMO) antennas, or the like. The communications antennamay be communicatively coupled to a radio component to transmit and/orreceive signals, such as communications signals to and/or from the userdevice.

Further, the vehicles 210 may include any suitable radio and/ortransceiver for transmitting and/or receiving radio frequency (RF)signals in the bandwidth and/or channels corresponding to thecommunications protocols utilized by any of the user device and/or thevehicle devices to communicate with each other. The radio components mayinclude hardware and/or software to modulate and/or demodulatecommunications signals according to pre-established transmissionprotocols. The radio components may further have hardware and/orsoftware instructions to communicate via one or more Wi-Fi and/or Wi-Fidirect protocols, as standardized by the Institute of Electrical andElectronics Engineers (IEEE) 802.11 standards. In certain exampleembodiments, the radio component, in cooperation with the communicationsantennas, may be configured to communicate via 2.4 GHz channels (e.g.802.11b, 802.11g, 802.11n), 5 GHz channels (e.g. 802.11n, 802.11ac), or60 GHZ channels (e.g. 802.11ad). In some embodiments, non-Wi-Fiprotocols may be used for communications between devices, such asBluetooth, dedicated short-range communication (DSRC), Ultra-HighFrequency (UHF) (e.g. IEEE 802.11af, IEEE 802.22), white band frequency(for example, white spaces), or other packetized radio communications.The radio component may include any known receiver and baseband suitablefor communicating via the communications protocols. The radio componentmay further include a low noise amplifier (LNA), additional signalamplifiers, an analog-to-digital (A/D) converter, one or more buffers,and digital baseband.

Diagram 200 further shows an example server 202 that may becommunication with the various other components (for example, thedatabase 204, the processor(s) 206, the memory 208, and/or the vehicles210) over the network 216. In an embodiment, the server 202 may includea cloud-based server that may serve to store and transmit information(for example, images and video of a vehicle, historical informationregarding vehicle modes and/or locations, and/or the like). Some or allof the individual components may be optional and/or different in variousembodiments. In some embodiments, the server 202 may be located at thevehicles 210. In other examples, server 202 may be in communication withvehicles 210, and/or user device (not shown).

Diagram 200 further shows an example database 204. In some examples, thedisclosed systems may analyze map information associated with anenvironment of the vehicles, previous vehicle locations in a givenenvironment, infrastructural updates regarding the transportationnetwork (for example, construction activity, road closures, etc.),and/or the like. The database 204 may be controlled by any suitablesystem, including a database management systems (DBMS), discussedfurther in connection with FIG. 7, below. The DBMS may use any of avariety of database models (for example, relational model, object model,etc.) and may support any of a variety of query languages to obtaininformation from database 204. In some examples, the database 204 mayinclude a cloud-based database or a vehicle-based database.

Processor(s) 206 may include application processors, variouscoprocessors, and other dedicated processors for performing deliveryanalyses. Processor(s) 206 may be communicably coupled with memory 208and configured to run the operating system, user interfaces, sensors,navigation system, communication system, image processing systems,and/or other components. In some embodiments, processor(s) 206 mayinclude multiple dedicated or shared processors configured to performsignal processing, implement/manage real-time radio transmissionoperations of the vehicles 210, make navigation decisions (for example,implement obstacle avoidance routines, etc.), and the like. The volatileand nonvolatile memories found in various embodiments may includestorage media for storing information such as processor-readableinstructions, data structures, program modules, or other data. Someexamples of information that may be stored include basic input/outputsystems (BIOS), operating systems, and applications.

As noted, the disclosed systems may operate in a contextual environmentthat includes agents. The agents may include, but not be limited to,vehicles, motorbikes, pedestrians, cyclists, roadside units, and thelike which share roadways, and the agents can have wirelesscommunications capabilities. In some examples, the wirelesscommunication capability may include a short-range wirelesscommunication capability. In another example, the short-range wirelesscommunication capability may enable direct communications betweenagents. Direct communications between agents may refer to communicationthat originates from a first agent and is transmitted to a second agentin proximity to the first agent. Accordingly, direct communications mayinclude communications between agents that may not need an enablingcellular or other similar wireless infrastructure.

Certain non-limiting embodiments of the disclosure are now described inwithin the context of an example scenario. The example scenario isdescribed to facilitate explanation of the embodiments and is not meantto be limiting in any way. The scenario can include a process where twovehicles (vehicle A and vehicle B) with human drivers (driver A anddriver B) park in the same parallel parking space on the side of a roadin sequence. There can be a period of time elapsing between the parkingof one vehicle and the parking of the other vehicle. This process caninvolve multiple state transitions for the agents, and each statetransition may influence the way that the agents communicate with theirsurroundings.

More specifically, the scenario may include the following sequence ofstates. (1) Driver B (D_(B)) in vehicle B (V_(B)) can search for aparking space on the main street. (2) Driver A (D_(A)) can enter vehicleA (V_(A)), which may be parked in a given parallel parking space (S) onthe side of a busy main street. D_(A) may be intending to leave S. (3)D_(B) can see an alert on a human machine interface (HMI) of V_(B) thatS is opening up ahead of V_(B). Accordingly, D_(B) can wait for V_(A) toleave the space. (4) V_(A) can leave S and V_(B) pulls in behind V_(A).(5) D_(B) exits the vehicle and leaves V_(B) to run errands.

The above scenario includes states in which several potentiallyhazardous situations may arise. Such potentially hazardous situationsmay include, but not be limited to, the following conditions. (1) AsV_(A) leaves S, V_(B) collides with V_(A). This may be due to the factthat D_(B) was preoccupied looking for parking and did not notice V_(A)pulling out in front of V_(B). (2) D_(B) circles around the parking lotbut does not find an open space in a reasonable amount of time. (3)Other vehicles proximate to V_(B) do not give V_(B) adequate space, orV_(B) hit by another vehicle while attempting to park in S. (4) D_(B) ishit by another vehicle while exiting V_(B), and the like.

The disclosed systems implement communications between all involvedagents to enable the parallel parking of the vehicles in a coordinated,efficient, and safe fashion using the methods described below. Inparticular, the disclosed systems can augment the states of the vehiclesin the scenario described above using interaction modes. As thedifferent agents move through the sequence of states, the agents'interaction modes can transition to enable optimized execution of eachaction, as described in connection with FIG. 3. In particular, FIGS. 3Aand 3B include tables that describe each state of the sequence in orderand augments the description of the current state of the vehicles ineach state.

FIG. 3A illustrates tables corresponding to an example scenario forvehicle communication in a parking scenario using the interaction modes,in accordance with example embodiments of the disclosure. Diagram 301includes a table having a row 309 including an actor 302 field, a mode304 field, a trigger 306 field, a message to send 308 field, a messagefrequency 310 field, an incoming messages to filter 312 field, and anaction at the receiver 314 field. In particular, the actor 302 field mayrepresent the various agents such as the vehicles in this example. Themode 304 field may represent terms describing the situation of therespective agents represented in the actor 302 field. The trigger 306field may represent a description of a triggering event that would placethe agent in the particular mode described in the mode 304 field. Themessage to send 308 field may include any suitable message that theagent may transmit to other agents in the environment. The messagefrequency 310 field may represent the frequency of transmitting such amessage by the agent as described in the message to send 308 field. Theincoming messages to filter 312 field may include a description ofmessages that the agent may look for or discard (depending on thecontext) while the agent is in a particular mode. The action at thereceiver 314 field may describe at least one action that a receiver of agiven message by the agent may be expected to perform upon receiving themessage.

Condition (1) above represented a situation where driver B (D_(B)) invehicle B (V_(B)) can search for a parking space on the main street.Diagram 303 shows that for an actor V_(B) 321, the triggering event thatcauses the disclosed systems to classify V_(B) 321 in the “looking forparking” 322 mode may include D_(B) expressing an intent to park to thevehicle (V_(B)) via the HMI of the vehicle, as shown in field 323 of thetable. In some examples, D_(B) may express the intent to park thevehicle via an HMI of the vehicle. For instance, V_(B) may provide avoice command, or a push of center-stack button of a console of thevehicle to indicate such an intent. In this state, there may be nomessages to send as represented by the entry of “none” 324 field in thetable. Accordingly, there may also not be any message frequency asrepresented by the entry of “none” 325 field in the table. Moreover, thedisclosed systems may search for incoming messages including a “vacatinga parking spot” message or a “just parked” message as represented infield 326 of the table. Such incoming messages may be indicative of avehicle leaving a parking spot that V_(B) may be able to park in.Moreover, in this state, there may be no actions to take at the receiverof transmitted messages by V_(B), as indicated by the “N/A” in field 327of the table.

Condition (2) above represented a situation where driver A (D_(A)) canenter vehicle A (V_(A)), which may be parked in a given parallel parkingspace (S) on the side of a busy main street. D_(A) may be intending toleave S. Diagram 303 shows that for an actor V_(B) 328, the triggeringevent that causes the disclosed systems to classify V_(B) 321 in the“vacating a parking spot” 329 mode may include V_(A) being engaged afterbeing stopped in a parking space for a prolonged period of time and acorresponding driver D_(A) being in the driver seat of V_(A), as shownin field 330 of the table. In this state, the vehicle V_(A) may transmita “vacating a parking spot” message as represented by entry 331 in thetable. The message may further include, but not be limited to, alocation information, a direction information, a spot identifierinformation, a spot type information (for example, handicapped spottype), a spot status information, and the like. In this case, V_(A) maytransmit the messages with a message transmission frequency of about 10Hz as represented by entry 325 in the table. Moreover, the disclosedsystems may not search for incoming messages as represented in field 333of the table. Moreover, in this state, there may be actions to take atthe receiver of transmitted messages by V_(A). For example, a receivermay provide alerts to drivers and/or bikes that a vehicle is attemptingto pull out of the parking spot, and for the receiver to maintain anadequate distance from the vehicle, as indicated by the entry in field327 of the table.

Condition (3) above represented a situation where D_(B) can see an alerton a human machine interface (HMI) of V_(B) that S is opening up aheadof V_(B). Accordingly, D_(B) can wait for V_(A) to leave the space. Inthis condition, the disclosed systems may not indicate a change in theinteraction modes of the vehicles.

Condition (4) above represented a situation where V_(A) can leave S andV_(B) pulls in behind V_(A). Diagram 305 shows that for actor VB 335,when VB engages an active parking system as represented in field 337,the disclosed systems may place V_(B) in a “parking in progress” 336mode. In this state, the vehicle V_(A) may transmit a “parking inprogress” message as represented by entry 338 in the table. The messagemay further include a location information, a heading information, aspot identifier information, and the like as further shown by entry 338.In this case, V_(A) may transmit the messages with a messagetransmission frequency of about 3 Hz as represented by entry 339 in thetable. Moreover, the disclosed systems may not search for incomingmessages as represented in field 340 of the table. Moreover, in thisstate, there may be actions to take at the receiver of transmittedmessages by V_(A). For example, a receiver may provide alerts for thereceiver to maintain an adequate distance from the vehicle, as indicatedby the entry in field 341 of the table.

Diagram 305 further shows that for actor V_(B) 342, when V_(B)determines that V_(B) is in designated parking zone on a digital map andconfirms with V_(B) sensors that sees the curb is less than about 12inches away, as represented in field 344, the disclosed systems mayplace V_(B) in a “just parked” 343 mode. In this state, the vehicleV_(A) may transmit a “just parked” message as represented by entry 345in the table. The message may further include a location information, aheading information, a spot identifier information, and the like asfurther shown by entry 338. In this case, V_(A) may transmit themessages with a message transmission frequency of about 3 Hz asrepresented by entry 346 in the table. Moreover, the disclosed systemsmay not search for incoming messages as represented in field 347 of thetable. Moreover, in this state, there may be actions to take at thereceiver of transmitted messages by V_(A). For example, a receiver mayindicate to nearby vehicles looking for parking that parking spot S isno longer open, as indicated by the entry in field 348 of the table.

Condition (5) above represented a situation where D_(B) exits thevehicle and leaves V_(B) to run errands. Diagram 307 shows that foractor D_(B) 340, when V_(B) is turned off in a designated parking zone,and the disclosed systems determine that weight is shifting in thedriver's seat as D_(B) prepares to exit V_(B) as represented in field352 the disclosed systems may place V_(B) in a “exiting vehicleroadside” 351 mode. In this state, the vehicle V_(A) may transmit a“high-alert pedestrian safety” message as represented by field 352 inthe table. The message may further include a position information, aheading information, a high-alert flag, and the like as further shown byentry 353. In this case, V_(A) may transmit the messages with a messagetransmission frequency of about 20 Hz as represented by entry 354 in thetable. Moreover, the disclosed systems may search for incoming messagesincluding a basic safety message as represented in field 355 of thetable. Moreover, in this state, there may be actions to take at thereceiver of transmitted messages by V_(A). For example, a receiver mayprovide alerts for drivers indicating that a pedestrian is in avulnerable state and to either slow down or stop their respectivevehicles, as indicated by the entry in field 356 of the table.

As is demonstrated in the above sequence, the disclosed systems canenable heightened awareness of all nearby actors. This awareness iscritical to safe and efficient navigation of complex scenarios.

It is to be understood that the example described above does notrepresent a comprehensive list of the aspects of agent to agentcommunication that can be modified based on an active communicationmode. Rather, the aspects represent the salient features for thisexample action sequence. In other cases, different communication aspectsmay be used as the need arises. For example, during a rideshare pickup,additional layers of authentication/security may be important to verifythe identity and authenticity of the driver for a correspondingpassenger, so that the passenger is confident that the vehicle is safeto enter. In a case where a pedestrian is looking to cross the street,the pedestrian may seek an acknowledgment from nearby vehicles to ensurethat the drivers of such vehicles are aware of the pedestrian crossingtaking place.

It is also possible for the devices to engage in a multi-exchangeconversation in certain modes. For example, when V_(A) is ready tovacate S and enters a “vacating a parking spot” mode, V_(A) can transmitperiodic messages corresponding to such a mode. Vehicles in a “lookingfor parking mode” can filter incoming messages for “vacating a parkingspot” messages. When such vehicles find a parking spot that meetspredetermined location criteria, the vehicles can respond to V_(A) witha “reserve spot” message. Whichever vehicle is currently reserving theparking spot (in this case, V_(A)) but is vacating the spot, can choosethe vehicle that can park in the spot after the vehicle vacates thespot. In particular, the vehicle can receive one or more reservationrequests and can use fixed logic to choose the next vehicle to reservethe parking spot. An example of such logic can involve analyzingtimestamps from the vehicles to determine how long the vehicles havebeen in “looking for parking” mode. The disclosed systems can thenprovide the space to the vehicle that has been waiting the longest,assuming that the vehicle is within a certain distance threshold.

FIG. 4 shows an example sequence diagram illustrating examplecommunications between vehicles in a parking scenario, in accordancewith example embodiments of the disclosure. In particular, diagram 401represents a sequence diagram of messages that may be transmittedbetween various agents. In particular, the agents may include a firstvehicle V1 402, a second vehicle V2 404, and a third vehicle V3 406. Inthis example, V1 402 may represent a vehicle that is in a “vacating aparking spot” mode. Similarly, V2 404 may represent a vehicle that is ina “looking for parking” mode. V3 406 may be in a “looking for parking”mode. Continuing with the example, at stage 408, V1 402 may transmit amessage including “vacating a parking spot” message and/or a locationinformation, a direction information, an open spot notificationinformation, and the like to V3 406. At stage 410, V3 406 may transmit amessage to V1 402, the message indicative of V3 406's request to reservethe parking spot occupied by V1 402. The message may further include aparking spot location and a unique identifier of V3. At stage 412, V2404 may also transmit a message to V1 402, the message indicative of V2404's request to reserve the same parking spot occupied by V1 402. Themessage may also include the parking spot location and a uniqueidentifier of V2. As noted, at stage 414, V1 402 may transmit a messageto V3 406 including the “vacating a parking spot” message in addition toV1 402's location, direction, and an indication that the parking spot isreserved for V3.

In some examples, a single agent may be in a variety of different modesat once. For example, a first vehicle could simultaneously signal toother vehicles that the first vehicle is pulling into a parking space.At substantially the same time, the first vehicle may also signal tonearby pedestrians that the first vehicle is looking for a specificperson that ordered a ride to a sporting event. The disclosed systemsmay use such multimode operation by the agents optionally in combinationwith the V2X technology to further expand possible recipient actions.

In some examples, infrastructure can mediate interactions betweenagents. For example, in the parking sequence example described above,infrastructure (for example, roadside infrastructure or parking garageinfrastructure) can monitor vehicles vacating spots and vehiclessearching for parking spots. The infrastructure can mediate thereservation process in addition to guiding vehicles to the open parkingspots. For example, the infrastructure can serve to facilitatelonger-range communication between agents that might ordinarily not beable to communicate within a predetermined distance threshold of oneanother. In another example, the infrastructure can maintain statisticsand/or lists of open and reserve parking spots and may use thisinformation in directing vehicles to maximize parking utilization.

FIG. 5 show example process flows describing a method of vehiclecommunication using dynamically configurable interaction modes, inaccordance with example embodiments of the disclosure. At block 502, themethod can include identifying a first triggering event associated withan agent, the agent comprising a vehicle or a user. In some examples,identifying the first triggering event can include determining a manualinput or a voice input by the user. For example, the user may speak to avoice-recognition device of the vehicle, and the disclosed systems mayparse the voice input and identify a mode based on the contents of thevoice input. The user may say, for example, “entering parking mode”, andthe disclosed systems may determine that the vehicle is in parking mode.Alternatively or additionally, the user may press a button on a consoleof the vehicle to signify a mode. In other embodiments, the triggeringevent may be determined automatically via an analysis of the sensor datainput by the vehicle. For example, location-determination sensors mayindicate that the vehicle is entering a parking lot, and therefore, thevehicle can be transitioned to a parking mode.

At block 504, the method can include determining a first mode for theagent based on the first triggering event. In particular, the disclosedsystems may query a database (internal or external to the vehicle) todetermine the first mode based on the content of user input or based onan analysis of sensor data. For example, the database may includeconditions and instructions under which certain sensor data cause thedisclosed systems to determine that the agent is in the first mode. Forexample, the database may include instructions that if the agent entersthe location of a parking lot and has a speed at a particular thresholdfor a certain duration of time, the disclosed systems determine that theagent is in a first mode, the first mode indicative of a parking mode.

At block 506, the method can include exchanging a first communicationwith other agents over a network, wherein the first communication isbased on the first mode and comprises a first action to be taken by theother agents. In particular, the exchange of the first communicationsmay include broadcasting, by the agent, an outgoing message at afrequency, the frequency based on the first mode. These outgoingmessages may indicate the state of the agent (e.g., interaction mode,speed, heading, etc.). In some cases the agent may filter, based on thefirst mode, a plurality of messages from the other agents to identify anincoming message that is applicable to the agent. For example, if theagent is in a parking mode, it may ignore messages associated with ahighway driving mode from vehicles that are driving on a highway inproximity to the vehicle. This can save bandwidth and increase the speedand efficiency of communications.

In some examples, the exchange of the first communication can includerelaying, using an infrastructural component, the first communicationover the network to at least a portion of the other agents that arebeyond a threshold distance from the agent. For example, the agent cantransmit communications to vehicles that are further out than the rangeof antenna of the agent's vehicle antenna. In other examples, the agentcan relay, to a second agent, the first communication over the networkto at least a portion of the other agents that are beyond a thresholddistance from the agent. The second agent can thereby serve as a relayfor the agent. In some examples, the first action can include providingat least a portion of the other agents with an alert message based onthe first mode. For example, the alert message can indicate to the otheragents to provide a message that describes that the other agents arestopping due to a parking mode of the agent. The exchange of the firstcommunication can include computer-executable instructions to exchange afirst message with the other agents over the network using a V2X, aC-V2X protocol, or any other suitable protocol.

At block 508, the method can include determining a second mode for theagent based on a second triggering event. The determining the secondmode for the agent based on a second triggering event can be similar tothe include determining a first mode for the agent based on a firsttriggering event, as described above.

At block 510, the method can include exchanging a second communicationwith the other agents over the network, wherein the second communicationis based on the second mode and comprises a second action to be taken bythe other agents, and wherein the second mode and the first mode are ofdifferent types. The exchanging a second communication with the otheragents over the network can be similar to exchanging the firstcommunication with the other agents as described above.

The method can include determining a third mode for the agent based onthe first triggering event. The determining the third mode for the agentbased on the first triggering event can be similar to the includedetermining a first mode for the agent based on a first triggeringevent, as described above. The third mode can be determined atsubstantially the same time as the first mode. In other words, onetriggering event can lead to the triggering of multiple modes. Themethod can include exchanging a third communication with the otheragents over the network, wherein the third communication is based on thefirst mode.

Further, as noted, embodiments of devices and systems (and their variouscomponents) described herein can employ artificial intelligence (AI) tofacilitate automating one or more features described herein. Thecomponents can employ various AI-based schemes for carrying out variousembodiments and/or examples disclosed herein. To provide for or aid inthe numerous determinations (e.g., determine, ascertain, infer,calculate, predict, prognose, estimate, derive, forecast, detect,compute) described herein, components described herein can examine theentirety or a subset of the data to which it is granted access and canprovide for reasoning about or determine states of the system,environment, etc. from a set of observations as captured via eventsand/or data. Determinations can be employed to identify a specificcontext or action, or can generate a probability distribution overstates, for example. The determinations can be probabilistic; that is,the computation of a probability distribution over states of interestbased on a consideration of data and events. Determinations can alsorefer to techniques employed for composing higher-level events from aset of events and/or data.

Such determinations can result in the construction of new events oractions from a set of observed events and/or stored event data, whetherthe events are correlated in close temporal proximity, and whether theevents and data come from one or several event and data sources (e.g.,different sensor inputs). Components disclosed herein can employ variousclassification (explicitly trained (e.g., via training data) as well asimplicitly trained (e.g., via observing behavior, preferences,historical information, receiving extrinsic information, etc.)) schemesand/or systems (e.g., support vector machines, neural networks, expertsystems, Bayesian belief networks, fuzzy logic, data fusion engines,etc.) in connection with performing automatic and/or determined actionin connection with the claimed subject matter. Thus, classificationschemes and/or systems can be used to automatically learn and perform anumber of functions, actions, and/or determinations.

A classifier can map an input attribute vector, z=(z1, z2, z3, z4, . . ., zn), to a confidence that the input belongs to a class, as byf(z)=confidence(class). Such classification can employ a probabilisticand/or statistical-based analysis (e.g., factoring into the analysisutilities and costs) to determinate an action to be automaticallyperformed. A support vector machine (SVM) can be an example of aclassifier that can be employed. The SVM operates by finding ahyper-surface in the space of possible inputs, where the hyper-surfaceattempts to split the triggering criteria from the non-triggeringevents. Intuitively, this makes the classification correct for testingdata that is near, but not identical to training data. Other directedand undirected model classification approaches include, for example,naïve Bayes, Bayesian networks, decision trees, neural networks, fuzzylogic models, and/or probabilistic classification models providingdifferent patterns of independence can be employed. Classification asused herein also is inclusive of statistical regression that is utilizedto develop models of priority.

FIG. 6 is a schematic illustration of an example autonomous vehicle, inaccordance with one or more embodiments of the disclosure. As noted, thevehicle (for example, vehicle 102 shown and described in connection withFIG. 1, above), may include an AV. Referring to FIG. 6, an examplevehicle 600 may include a power plant 602 (such as a combustion engineand/or an electric motor) that provides torque to driven wheels 604 thatpropel the vehicle forward or backward.

Autonomous vehicle operation, including propulsion, steering, braking,navigation, and the like, may be controlled autonomously by a vehiclecontroller 606. For example, the vehicle controller 606 may beconfigured to receive feedback from one or more sensors (for example,sensor system 634, etc.) and other vehicle components to determine roadconditions, vehicle positioning, and so forth. The vehicle controller606 may also ingest data form various sensors such as speed monitor andyaw sensor, as well as the tires, brakes, motor, and other vehiclecomponents. The vehicle controller 606 may use the feedback androute/map data of the route to determine actions to be taken by theautonomous vehicle, which may include operations related to the engine,steering, braking, and so forth. Control of the various vehicle systemsmay be implemented using any suitable mechanical means, such as servomotors, robotic arms (for example, to control steering wheel operation,acceleration pedal, brake pedal, etc.), and so forth. The controller 606may be configured to interact with the user by communicating with theuser's user device.

The vehicle controller 606 may include one or more computer processorscoupled to at least one memory. The vehicle 600 may include a brakingsystem 608 having disks 610 and calipers 612. The vehicle 600 mayinclude a steering system 614. The steering system 614 may include asteering wheel 616, a steering shaft 618 interconnecting the steeringwheel to a steering rack 620 (or steering box). The front and/or rearwheels 604 may be connected to the steering rack 620 via axle 622. Asteering sensor 624 may be disposed proximate the steering shaft 618 tomeasure a steering angle. The vehicle 600 also includes a speed sensor626 that may be disposed at the wheels 604 or in the transmission. Thespeed sensor 626 is configured to output a signal to the controller 606indicating the speed of the vehicle. A yaw sensor 628 is incommunication with the controller 606 and is configured to output asignal indicating the yaw of the vehicle 600.

The vehicle 600 includes a cabin having a display 630 in electroniccommunication with the controller 606. The display 630 may be atouchscreen that displays information to the passengers of the vehicleand/or functions as an input. A person having ordinary skill in the artwill appreciate that many different display and input devices areavailable and that the present disclosure is not limited to anyparticular display. An audio system 632 may be disposed within the cabinand may include one or more speakers for providing information to usersthat pickup items. The audio system 632 may also include a microphonefor receiving voice inputs or detecting sounds at the residence (forexample, animal sounds). The vehicle may include a communications system636 that is configured to send and/or receive wireless communicationsvia one or more networks. The communications system 636 may beconfigured for communication with devices in the car or outside the car,such as a user's device, the delivery vehicles, etc.

The vehicle 600 may also include a sensor system for sensing areasexternal to the vehicle. The sensor system may include a plurality ofdifferent types of sensors and devices such as cameras, ultrasonicsensors, RADAR, LIDAR, and/or combinations thereof. The sensor systemmay be in electronic communication with the controller 606 forcontrolling the functions of various components. The controller maycommunicate via a serial bus or via dedicated electrical conduits. Thecontroller generally includes any number of microprocessors, ASICs, ICs,memory (for example, FLASH, ROM, RAM, EPROM and/or EEPROM) and softwarecode to co-act with one another to perform a series of operations. Thecontroller also includes predetermined data, or “look up tables” thatare based on calculations and test data and are stored within thememory. The controller may communicate with other vehicle systems andcontrollers over one or more wired or wireless vehicle connections usingcommon bus protocols (for example, CAN and LIN). Used herein, areference to “a controller” refers to one or more controllers and/orcomputer processors. The controller 606 may receive signals from thesensor system 634 and may include memory containing machine-readableinstructions for processing the data from the sensor system. Thecontroller 606 may be programmed to output instructions to at least thedisplay 630, the audio system 632, the steering system 614, the brakingsystem 608, and/or the power plant 602 to autonomously operate thevehicle 600.

FIG. 7 is a schematic illustration of an example server architecture forone or more server(s) 700 in accordance with one or more embodiments ofthe disclosure. The server 700 illustrated in the example of FIG. 7 maycorrespond to a server that may be used by a vehicle (for example, anyof vehicles 102, 104, and/or 106 as shown and described in connectionwith FIG. 1, above) on a network associated with the vehicle, a deliveryvehicle, or a user device. In an embodiment, the server 700 may includea cloud-based server that may serve to store and transmit information(for example, images and video of a user, a user residence, and thelike). Some or all of the individual components may be optional and/ordifferent in various embodiments. In some embodiments, at least one ofthe servers described FIG. 7 may be located at an autonomous vehicle.

The server 700 may be in communication with a AV 740, and one or moreuser devices 750. The AV 740 may be in communication with the one ormore user devices 750. Further, the server 700, the AV 740, and/or theuser devices 750 may be configured to communicate via one or morenetworks 742. The AV 740 may additionally be in wireless communicationover one or more network(s) 742 with the user devices 750 via aconnection protocol such as Bluetooth or NFC. Such network(s) 742 mayinclude, but are not limited to, any one or more different types ofcommunications networks such as, for example, cable networks, publicnetworks (for example, the Internet), private networks (for example,frame-relay networks), wireless networks, cellular networks, telephonenetworks (for example, a public switched telephone network), or anyother suitable private or public packet-switched or circuit-switchednetworks. Further, such network(s) may have any suitable communicationrange associated therewith. In addition, such network(s) may includecommunication links and associated networking devices (for example,link-layer switches, routers, etc.) for transmitting network trafficover any suitable type of medium including, but not limited to, coaxialcable, twisted-pair wire (for example, twisted-pair copper wire),optical fiber, a HFC medium, a microwave medium, a radio frequencycommunication medium, a satellite communication medium, or anycombination thereof.

In an illustrative configuration, the server 700 may include one or moreprocessors 702, one or more memory devices 704 (also referred to hereinas memory 704), one or more input/output (I/O) interface(s) 706, one ormore network interface(s) 708, one or more sensor(s) or sensorinterface(s) 710, one or more transceiver(s) 712, one or more optionaldisplay components 714, one or more optionalspeakers(s)/camera(s)/microphone(s) 716, and data storage 720. Theserver 700 may further include one or more bus(es) 718 that functionallycouple various components of the server 700. The server 700 may furtherinclude one or more antenna(e) 730 that may include, without limitation,a cellular antenna for transmitting or receiving signals to/from acellular network infrastructure, a GNSS antenna for receiving GNSSsignals from a GNSS satellite, a Bluetooth antenna for transmitting orreceiving Bluetooth signals, a NFC antenna for transmitting or receivingNFC signals, and so forth. These various components will be described inmore detail hereinafter.

The bus(es) 718 may include at least one of a system bus, a memory bus,an address bus, or a message bus, and may permit the exchange ofinformation (for example, data (including computer-executable code),signaling, etc.) between various components of the server 700. Thebus(es) 718 may include, without limitation, a memory bus or a memorycontroller, a peripheral bus, an accelerated graphics port, and soforth. The bus(es) 718 may be associated with any suitable busarchitecture.

The memory 704 of the server 700 may include volatile memory (memorythat maintains its state when supplied with power) such as RAM and/ornon-volatile memory (memory that maintains its state even when notsupplied with power) such as read-only memory (ROM), flash memory,ferroelectric RAM (FRAM), and so forth. Persistent data storage, as thatterm is used herein, may include non-volatile memory. In certain exampleembodiments, volatile memory may enable faster read/write access thannon-volatile memory. However, in certain other example embodiments,certain types of non-volatile memory (for example, FRAM) may enablefaster read/write access than certain types of volatile memory.

The data storage 720 may include removable storage and/or non-removablestorage including, but not limited to, magnetic storage, optical diskstorage, and/or tape storage. The data storage 720 may providenon-volatile storage of computer-executable instructions and other data.

The data storage 720 may store computer-executable code, instructions,or the like that may be loadable into the memory 704 and executable bythe processor(s) 702 to cause the processor(s) 702 to perform orinitiate various operations. The data storage 720 may additionally storedata that may be copied to the memory 704 for use by the processor(s)702 during the execution of the computer-executable instructions. Morespecifically, the data storage 720 may store one or more operatingsystems (O/S) 722; one or more database management systems (DBMS) 724;and one or more program module(s), applications, engines,computer-executable code, scripts, or the like. Some or all of thesecomponent(s) may be sub-component(s). Any of the components depicted asbeing stored in the data storage 720 may include any combination ofsoftware, firmware, and/or hardware. The software and/or firmware mayinclude computer-executable code, instructions, or the like that may beloaded into the memory 704 for execution by one or more of theprocessor(s) 702. Any of the components depicted as being stored in thedata storage 720 may support functionality described in reference tocorresponding components named earlier in this disclosure.

The processor(s) 702 may be configured to access the memory 704 andexecute the computer-executable instructions loaded therein. Forexample, the processor(s) 702 may be configured to execute thecomputer-executable instructions of the various program module(s),applications, engines, or the like of the server 700 to cause orfacilitate various operations to be performed in accordance with one ormore embodiments of the disclosure. The processor(s) 702 may include anysuitable processing unit capable of accepting data as input, processingthe input data in accordance with stored computer-executableinstructions, and generating output data. The processor(s) 702 mayinclude any type of suitable processing unit.

Referring now to other illustrative components depicted as being storedin the data storage 720, the 0/S 722 may be loaded from the data storage720 into the memory 704 and may provide an interface between otherapplication software executing on the server 700 and the hardwareresources of the server 700.

The DBMS 724 may be loaded into the memory 704 and may supportfunctionality for accessing, retrieving, storing, and/or manipulatingdata stored in the memory 704 and/or data stored in the data storage720. The DBMS 724 may use any of a variety of database models (forexample, relational model, object model, etc.) and may support any of avariety of query languages.

Referring now to other illustrative components of the server 700, theinput/output (I/O) interface(s) 706 may facilitate the receipt of inputinformation by the server 700 from one or more I/O devices as well asthe output of information from the server 700 to the one or more I/Odevices. The I/O devices may include any of a variety of components suchas a display or display screen having a touch surface or touchscreen; anaudio output device for producing sound, such as a speaker; an audiocapture device, such as a microphone; an image and/or video capturedevice, such as a camera; a haptic unit; and so forth. The I/Ointerface(s) 706 may also include a connection to one or more of theantenna(e) 730 to connect to one or more networks via a wireless localarea network (WLAN) (such as Wi-Fi) radio, Bluetooth, ZigBee, and/or awireless network radio, such as a radio capable of communication with awireless communication network such as a Long Term Evolution (LTE)network, WiMAX network, 3G network, a ZigBee network, etc.

The server 700 may further include one or more network interface(s) 708via which the server 700 may communicate with any of a variety of othersystems, platforms, networks, devices, and so forth. The networkinterface(s) 708 may enable communication, for example, with one or morewireless routers, one or more host servers, one or more web servers, andthe like via one or more networks.

The sensor(s)/sensor interface(s) 710 may include or may be capable ofinterfacing with any suitable type of sensing device such as, forexample, inertial sensors, force sensors, thermal sensors, photocells,and so forth.

The display component(s) 714 may include one or more display layers,such as LED or LCD layers, touch screen layers, protective layers,and/or other layers. The optional camera(s) of thespeakers(s)/camera(s)/microphone(s) 716 may be any device configured tocapture ambient light or images. The optional microphone(s) of thespeakers(s)/camera(s)/microphone(s) 716 may be any device configured toreceive analog sound input or voice data. The microphone(s) of thespeakers(s)/camera(s)/microphone(s) 716 may include microphones used tocapture sound.

It should be appreciated that the program module(s), applications,computer-executable instructions, code, or the like depicted in FIG. 7as being stored in the data storage 720 are merely illustrative and notexhaustive and that processing described as being supported by anyparticular module may alternatively be distributed across multiplemodule(s) or performed by a different module.

It should further be appreciated that the server 700 may includealternate and/or additional hardware, software, or firmware componentsbeyond those described or depicted without departing from the scope ofthe disclosure.

The user device 750 may include one or more computer processor(s) 752,one or more memory devices 754, and one or more applications, such as avehicle application 756. Other embodiments may include differentcomponents.

The processor(s) 752 may be configured to access the memory 754 andexecute the computer-executable instructions loaded therein. Forexample, the processor(s) 752 may be configured to execute thecomputer-executable instructions of the various program module(s),applications, engines, or the like of the device to cause or facilitatevarious operations to be performed in accordance with one or moreembodiments of the disclosure. The processor(s) 752 may include anysuitable processing unit capable of accepting data as input, processingthe input data in accordance with stored computer-executableinstructions, and generating output data. The processor(s) 752 mayinclude any type of suitable processing unit.

The memory 754 may include volatile memory (memory that maintains itsstate when supplied with power). Persistent data storage, as that termis used herein, may include non-volatile memory. In certain exampleembodiments, volatile memory may enable faster read/write access thannon-volatile memory. However, in certain other example embodiments,certain types of non-volatile memory (for example, FRAM) may enablefaster read/write access than certain types of volatile memory.

Referring now to functionality supported by the user device 750, the AVapplication 756 may be a mobile application executable by the processor752 that can be used to present options and/or receive user inputs ofinformation related to the disclosed embodiments. In addition, the userdevice 750 may communicate with the AV 740 via the network 742 and/or adirect connect, which may be a wireless or wired connection. The userdevice 750 may include a camera, scanner, bio reader or the like tocapture biometric data of a user, perform certain processing step on thebiometric date, such as extracting features from captures biometricdata, and then communicated those extracted features to one or moreremote servers, such as one or more of cloud-based servers.

It should be appreciated that the program module(s), applications,computer-executable instructions, code, or the like depicted in FIG. 7as being stored in the data storage 720 are merely illustrative and notexhaustive and that processing described as being supported by anyparticular module may alternatively be distributed across multiplemodule(s) or performed by a different module.

It should further be appreciated that the server 700 may includealternate and/or additional hardware, software, or firmware componentsbeyond those described or depicted without departing from the scope ofthe disclosure.

Example Embodiments

In some instances, the following examples may be implemented together orseparately by the systems and methods described herein.

Example 1 may include a device, comprising: at least one memory devicethat stores computer-executable instructions; and at least one processorconfigured to access the at least one memory device, wherein the atleast one processor is configured to execute the computer-executableinstructions to: identify a first triggering event associated with anagent, the agent comprising a vehicle or a user; determine a first modefor the agent based on the first triggering event; exchange a firstcommunication with other agents over a network, wherein the firstcommunication is based on the first mode and comprises a first action tobe taken by the other agents; determine a second mode for the agentbased on a second triggering event; and exchange a second communicationwith the other agents over the network, wherein the second communicationis based on the second mode and comprises a second action to be taken bythe other agents, and wherein the second mode and the first mode aredifferent.

Example 2 may include the device of example 1 and/or some other exampleherein, wherein the computer-executable instructions further comprisecomputer-executable instructions to: determine a third mode for theagent based on the first triggering event; and exchange a thirdcommunication with the other agents over the network, wherein the thirdcommunication is based on the first mode.

Example 3 may include the device of example 1 and/or some other exampleherein, wherein the computer-executable instructions to identify thefirst triggering event comprise computer-executable instructions todetermine a manual input or a voice input by the user.

Example 4 may include the device of example 1 and/or some other exampleherein, wherein the computer-executable instructions to exchange thefirst communication comprises computer-executable instructions tobroadcast, by the agent, an outgoing message at a frequency, thefrequency based on the first mode.

Example 5 may include the device of example 1 and/or some other exampleherein, wherein the computer-executable instructions to exchange thefirst communication comprise computer-executable instructions to filter,by the agent and based on the first mode, a plurality of messages fromthe other agents to identify an incoming message that is applicable tothe agent.

Example 6 may include the device of example 1 and/or some other exampleherein, wherein the computer-executable instructions to exchange thefirst communication comprise computer-executable instructions to relay,using an infrastructural component, the first communication over thenetwork to at least a portion of the other agents that are beyond athreshold distance from the agent.

Example 7 may include the device of example 1 and/or some other exampleherein, wherein the computer-executable instructions to exchange thefirst communication comprise computer-executable instructions to relay,to a second agent, the first communication over the network to at leasta portion of the other agents that are beyond a threshold distance fromthe agent.

Example 8 may include the device of example 1 and/or some other exampleherein, wherein the first action includes providing at least a portionof the other agents with an alert message based on the first mode.

Example 9 may include the device of example 1 and/or some other exampleherein, wherein the computer-executable instructions to exchange thefirst communication comprises comprise computer-executable instructionsto exchange a first message with the other agents over the network usinga vehicle-to-everything (V2X) or a cellular V2X (C-V2X) protocol.

Example 10 may include a system, comprising: at least one memory devicethat stores computer-executable instructions; and at least one processorconfigured to access the at least one memory device, wherein the atleast one processor is configured to execute the computer-executableinstructions to: identify a first triggering event associated with anagent, the agent comprising a vehicle or a user; determine a first modefor the agent based on the first triggering event; exchange a firstcommunication with other agents over a network, wherein the firstcommunication is based on the first mode and comprises a first action tobe taken by the other agents; determine a second mode for the agentbased on a second triggering event; exchange a second communication withthe other agents over the network, wherein the second communication isbased on the second mode and comprises a second action to be taken bythe other agents, and wherein the second mode and the first mode are ofdifferent types; determine a third mode for the agent based on the firsttriggering event; and exchange a third communication with the otheragents over the network, wherein the third communication is based on thefirst mode.

Example 11 may include the system of example 10 and/or some otherexample herein, wherein the computer-executable instructions furthercomprise computer-executable instructions to: exchange a first messagewith the other agents over the network using a vehicle-to-everything(V2X) or a cellular V2X (C-V2X) protocol.

Example 12 may include the system of example 10 and/or some otherexample herein, wherein the computer-executable instructions to identifythe first triggering event comprise computer-executable instructions todetermine a manual input or a voice input by the user.

Example 13 may include the system of example 10 and/or some otherexample herein, wherein the computer-executable instructions to exchangethe first communication comprises computer-executable instructions tobroadcast, by the agent, an outgoing message at a frequency, thefrequency based on the first mode.

Example 14 may include the system of example 10 and/or some otherexample herein, wherein the computer-executable instructions to exchangethe first communication comprise computer-executable instructions tofilter, by the agent and based on the first mode, a plurality ofmessages from the other agents to identify an incoming message that isapplicable to the agent.

Example 15 may include the system of example 10 and/or some otherexample herein, wherein the computer-executable instructions to exchangethe first communication comprise computer-executable instructions toperform at least one of: relaying, using an infrastructural component,the first communication over the network to at least a portion of theother agents that are beyond a threshold distance from the agent, orrelaying, to a second agent, the first communication over the network toat least the portion of the other agents that are beyond the thresholddistance from the agent.

Example 16 may include a method, comprising: identifying a firsttriggering event associated with an agent, the agent comprising avehicle or a user; determining a first mode for the agent based on thefirst triggering event; exchanging a first communication with otheragents over a network, wherein the first communication is based on thefirst mode and comprises a first action to be taken by the other agents;determining a second mode for the agent based on a second triggeringevent; and exchanging a second communication with the other agents overthe network, wherein the second communication is based on the secondmode and comprises a second action to be taken by the other agents, andwherein the second mode and the first mode are of different types.

Example 17 may include the method of example 16 and/or some otherexample herein, further comprising: determining a third mode for theagent based on the first triggering event; and exchanging a thirdcommunication with the other agents over the network, wherein the thirdcommunication is based on the first mode.

Example 18 may include the method of example 16 and/or some otherexample herein, further comprising determining a manual input or a voiceinput by the user.

Example 19 may include the method of example 16 and/or some otherexample herein, further comprising filtering, by the agent and based onthe first mode, a plurality of messages from the other agents toidentify an incoming message that is applicable to the agent.

Example 20 may include the method of example 16 and/or some otherexample herein, wherein the exchanging the first communication furthercomprises: relaying, using an infrastructural component, the firstcommunication over the network to at least a portion of the other agentsthat are beyond a threshold distance from the agent, or relaying, to asecond agent, the first communication over the network to at least theportion of the other agents that are beyond the threshold distance fromthe agent.

Although specific embodiments of the disclosure have been described, oneof ordinary skill in the art will recognize that numerous othermodifications and alternative embodiments are within the scope of thedisclosure. For example, any of the functionality and/or processingcapabilities described with respect to a particular device or componentmay be performed by any other device or component. Further, whilevarious illustrative implementations and architectures have beendescribed in accordance with embodiments of the disclosure, one ofordinary skill in the art will appreciate that numerous othermodifications to the illustrative implementations and architecturesdescribed herein are also within the scope of this disclosure.

Blocks of the block diagrams and flow diagrams support combinations ofmeans for performing the specified functions, combinations of elementsor steps for performing the specified functions, and program instructionmeans for performing the specified functions. It will also be understoodthat each block of the block diagrams and flow diagrams, andcombinations of blocks in the block diagrams and flow diagrams, may beimplemented by special-purpose, hardware-based computer systems thatperform the specified functions, elements or steps, or combinations ofspecial-purpose hardware and computer instructions.

A software component may be coded in any of a variety of programminglanguages. An illustrative programming language may be a lower-levelprogramming language such as an assembly language associated with aparticular hardware architecture and/or operating system platform. Asoftware component comprising assembly language instructions may requireconversion into executable machine code by an assembler prior toexecution by the hardware architecture and/or platform.

A software component may be stored as a file or other data storageconstruct. Software components of a similar type or functionally relatedmay be stored together such as, for example, in a particular directory,folder, or library. Software components may be static (for example,pre-established or fixed) or dynamic (for example, created or modifiedat the time of execution).

Software components may invoke or be invoked by other softwarecomponents through any of a wide variety of mechanisms. Invoked orinvoking software components may comprise other custom-developedapplication software, operating system functionality (for example,device drivers, data storage (for example, file management) routines,other common routines and services, etc.), or third-party softwarecomponents (for example, middleware, encryption, or other securitysoftware, database management software, file transfer or other networkcommunication software, mathematical or statistical software, imageprocessing software, and format translation software).

Software components associated with a particular solution or system mayreside and be executed on a single platform or may be distributed acrossmultiple platforms. The multiple platforms may be associated with morethan one hardware vendor, underlying chip technology, or operatingsystem. Furthermore, software components associated with a particularsolution or system may be initially written in one or more programminglanguages but may invoke software components written in anotherprogramming language.

Computer-executable program instructions may be loaded onto aspecial-purpose computer or other particular machine, a processor, orother programmable data processing apparatus to produce a particularmachine, such that execution of the instructions on the computer,processor, or other programmable data processing apparatus causes one ormore functions or operations specified in the flow diagrams to beperformed. These computer program instructions may also be stored in acomputer-readable storage medium (CRSM) that upon execution may direct acomputer or other programmable data processing apparatus to function ina particular manner, such that the instructions stored in thecomputer-readable storage medium produce an article of manufactureincluding instruction means that implement one or more functions oroperations specified in the flow diagrams. The computer programinstructions may also be loaded onto a computer or other programmabledata processing apparatus to cause a series of operational elements orsteps to be performed on the computer or other programmable apparatus toproduce a computer-implemented process.

Although embodiments have been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the disclosure is not necessarily limited to the specific featuresor acts described. Rather, the specific features and acts are disclosedas illustrative forms of implementing the embodiments. Conditionallanguage, such as, among others, “can,” “could,” “might,” or “may,”unless specifically stated otherwise, or otherwise understood within thecontext as used, is generally intended to convey that certainembodiments could include, while other embodiments do not include,certain features, elements, and/or steps. Thus, such conditionallanguage is not generally intended to imply that features, elements,and/or steps are in any way required for one or more embodiments or thatone or more embodiments necessarily include logic for deciding, with orwithout user input or prompting, whether these features, elements,and/or steps are included or are to be performed in any particularembodiment.

What is claimed is:
 1. A device, comprising: at least one memory devicethat stores computer-executable instructions; and at least one processorconfigured to access the at least one memory device, wherein the atleast one processor is configured to execute the computer-executableinstructions to: identify a first triggering event associated with afirst vehicle; determine a first interaction mode for the first vehiclebased on the first triggering event; send, from the first vehicle, afirst communication to a second vehicle and a third vehicle, the firstcommunication including the first interaction mode of the first vehicle;receive, from the second vehicle, a second communication indicating thatthe second vehicle is in a second interaction mode; receive, from thethird vehicle, a third communication indicating that the third vehicleis in the second interaction mode; filter, by the first vehicle, afourth communication from a fourth vehicle based on an indication in thefourth communication that the fourth vehicle is in an interaction modeother than the second interaction mode; determine that an amount of timethe second vehicle has been in the second interaction mode is greaterthan an amount of time the third vehicle has been in the secondinteraction mode; and send, by the first vehicle, an indication for thesecond vehicle to change to the first interaction mode or a fourthinteraction mode based on the determination that the amount of time thesecond vehicle has been in the second interaction mode is greater thanthe amount of time the third vehicle has been in the second interactionmode.
 2. The device of claim 1, wherein the computer-executableinstructions further comprise computer-executable instructions to:determine a fifth interaction mode for the first vehicle based on thefirst triggering event; and exchange a fifth communication with one ormore other vehicles, wherein the fifth communication includes the fifthinteraction mode of the first vehicle.
 3. The device of claim 1, whereinthe computer-executable instructions to identify the first triggeringevent comprise computer-executable instructions to determine a manualinput or a voice input by a user.
 4. The device of claim 1, wherein thefirst communication is sent at a first frequency, the first frequencybased on the first interaction mode of the first vehicle.
 5. The deviceof claim 1, wherein the computer-executable instructions to exchange thefirst communication comprise computer-executable instructions to relay,using an infrastructural component, the first communication to thesecond vehicle and the third vehicle.
 6. The device of claim 1, whereinthe first communication and second communication involve using avehicle-to-everything (V2X) or a cellular V2X (C-V2X) protocol.
 7. Thedevice of claim 1, wherein the computer-executable instructions furthercomprise computer-executable instructions to: determine that a distancebetween the second vehicle and first vehicle is smaller than a distancebetween the third vehicle and the first vehicle, wherein sending, by thefirst vehicle, the indication for the second vehicle to change to afourth interaction mode based on the determination that the distancebetween the second vehicle and first vehicle is smaller than thedistance between the third vehicle and the first vehicle.
 8. A system,comprising: at least one memory device that stores computer-executableinstructions; and at least one processor configured to access the atleast one memory device, wherein the at least one processor isconfigured to execute the computer-executable instructions to: identifya first triggering event associated with a first vehicle; determine afirst interaction mode for the first vehicle based on the firsttriggering event; send, from the first vehicle, a first communication toa second vehicle and a third vehicle, the first communication includingthe first interaction mode of the first vehicle; receive, from thesecond vehicle, a second communication indicating that the secondvehicle is in a second interaction mode; receive, from the thirdvehicle, a third communication indicating that the third vehicle is inthe second interaction mode; filter, by the first vehicle, a fourthcommunication from a fourth vehicle based on an indication in the fourthcommunication that the fourth vehicle is in an interaction mode otherthan the second interaction mode; determine that an amount of time thesecond vehicle has been in the second interaction mode is greater thanan amount of time the third vehicle has been in the second interactionmode; and send, by the first vehicle, an indication for the secondvehicle to change to the first interaction mode or a fourth interactionmode based on the determination that the amount of time the secondvehicle has been in the second interaction mode is greater than theamount of time the third vehicle has been in the second interactionmode.
 9. The system of claim 8, wherein the first communication andsecond communication involve using a vehicle-to-everything (V2X) or acellular V2X (C-V2X) protocol.
 10. The system of claim 8, wherein thecomputer-executable instructions to identify the first triggering eventcomprise computer-executable instructions to determine a manual input ora voice input by a user.
 11. The system of claim 8, wherein the firstcommunication is sent at a first frequency, the first frequency based onthe first interaction mode of the first vehicle.
 12. The system of claim8, wherein the computer-executable instructions to exchange the firstcommunication comprise computer-executable instructions to perform atleast one of: relaying, using an infrastructural component, the firstcommunication to the second vehicle and the third vehicle.
 13. A method,comprising: sending, from a first vehicle occupying a parking space, afirst communication to a second vehicle and a third vehicle, the firstcommunication including an indication that the first vehicle is vacatingthe parking space; receiving, from the second vehicle, a secondcommunication indicating that the second vehicle is searching for aparking space; receiving, from the third vehicle, a third communicationindicating that the third vehicle is also searching for a parking space;filtering, by the first vehicle, a fourth communication from a fourthvehicle based on an indication in the fourth communication that thefourth vehicle is not searching for a parking space; determining that anamount of time the second vehicle has been searching for a parking spaceis greater than an amount of time the third vehicle has been searchingfor a parking space; and sending, by the first vehicle, an indicationfor the second vehicle to occupy the parking space instead of the thirdvehicle based on the determination that the amount of time the secondvehicle has been searching for a parking space is greater than an amountof time the third vehicle has been searching for a parking space. 14.The method of claim 13, further comprising determining a manual input ora voice input by a user.
 15. The method of claim 13, wherein exchangingthe first communication further comprises: relaying, using aninfrastructural component, the first communication to the second vehicleand the third vehicle.